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Fast robotics pick-and-place with suction cups is a crucial component in thecurrent development of automation in logistics (factory lines, e-commerce,etc.). By "critically fast" we mean the fastest possible movement fortransporting an object such that it does not slip or fall from the suction cup.The main difficulties are: (i) handling the contact between the suction cup andthe object, which fundamentally involves kinodynamic constraints; and (ii)doing so at a low computational cost, typically a few hundreds of milliseconds.To address these difficulties, we propose (a) a model for suction cup contacts,(b) a procedure to identify the contact stability constraint based on thatmodel, and (c) a pipeline to parameterize, in a time-optimal manner, arbitrarygeometric paths under the identified contact stability constraint. Weexperimentally validate the proposed pipeline on a physical robot system: thecycle time for a typical pick-and-place task was less than 5 seconds, planningand execution times included. The full pipeline is released as open-source forthe robotics community.

Critically fast pick-and-place with suction cups